feat: implement VL53L4CD ULD driver, remove VL53L0X driver

CMakeLists.txt

@@ -58,12 +58,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     app/drivers/motor_driver.c
     app/drivers/ir_remote.c
     app/drivers/line_sensor.c
-    app/drivers/vl53l0x/vl53l0x_platform.c
-    app/drivers/vl53l0x/vl53l0x_api.c
-    app/drivers/vl53l0x/vl53l0x_api_calibration.c
-    app/drivers/vl53l0x/vl53l0x_api_core.c
-    app/drivers/vl53l0x/vl53l0x_api_ranging.c
-    app/drivers/vl53l0x/vl53l0x_api_strings.c
+    app/drivers/vl53l4cd_platform.c
     app/state.c
     app/state_standby.c
     app/state_retreat.c
@@ -85,12 +80,20 @@ add_library(segger_rtt STATIC
     external/rtt/RTT/SEGGER_RTT.c
     external/rtt/RTT/SEGGER_RTT_printf.c
 )
-
 target_include_directories(segger_rtt PUBLIC
     ${CMAKE_CURRENT_SOURCE_DIR}/app/config
     ${CMAKE_CURRENT_SOURCE_DIR}/external/rtt/RTT
 )
 
+add_library(vl53l4cd_uld STATIC
+    external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_api.c
+    external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_calibration.c
+)
+target_include_directories(vl53l4cd_uld PUBLIC
+    ${CMAKE_CURRENT_SOURCE_DIR}/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver
+    ${CMAKE_CURRENT_SOURCE_DIR}/external/VL53L4CD_ULD_V2.2.3/Platform
+)
+
 # Add project symbols (macros)
 target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
     # Add user defined symbols
@@ -105,5 +108,6 @@ target_link_libraries(${CMAKE_PROJECT_NAME}
 
     # Add user defined libraries
     segger_rtt
+    vl53l4cd_uld
 )
 

README.md

@@ -37,7 +37,8 @@ regardless of battery voltage, which fluctuates with charge.
 - The [STM32CubeMX generated](#hardware-initialization) source and header files live in `Src` and
 `Inc`.
 - External libraries live in `external`, at the time of writing it holds a Segger RTT library
-git submodule, used for logging in debug builds, and the Unity unit testing framework.
+git submodule, used for logging in debug builds, ST's VL53L4CD driver and the Unity unit testing
+framework.
 - Integration and unit tests live in `tests`.
 
 ### State machine

Src/i2c.c

@@ -35,12 +35,12 @@ void MX_I2C1_Init(void)
   /* USER CODE END I2C1_Init 0 */
 
   /* USER CODE BEGIN I2C1_Init 1 */
-  // The I2C bus is used to communicate with our three VL53L* ranging sensors, configured in fast
-  // mode, 400 KHz, to speed up the I2C transmissions required to read the ranging data and reset
-  // the DRDY pin.
+  // The I2C bus is used to communicate with our three VL53L4CD ranging sensors, configured for I2C
+  // fast mode plus, 1MHz, to speed up the I2C transmissions required to read the ranging data and
+  // reset the DRDY pin.
   /* USER CODE END I2C1_Init 1 */
   hi2c1.Instance = I2C1;
-  hi2c1.Init.Timing = 0x0010020A;
+  hi2c1.Init.Timing = 0x00100001;
   hi2c1.Init.OwnAddress1 = 0;
   hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT;
   hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE;
@@ -66,6 +66,10 @@ void MX_I2C1_Init(void)
   {
     Error_Handler();
   }
+
+  /** I2C Fast mode Plus enable
+  */
+  __HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C1);
   /* USER CODE BEGIN I2C1_Init 2 */
 
   /* USER CODE END I2C1_Init 2 */

app/app.c

@@ -1,8 +1,8 @@
+#include "VL53L4CD_api.h"
 #include "debug.h"
 #include "drivers/ir_remote.h"
 #include "drivers/line_sensor.h"
 #include "drivers/motor_driver.h"
-#include "drivers/vl53l0x/vl53l0x_api.h"
 #include "main.h"
 #include "ranging.h"
 #include "state.h"
@@ -20,7 +20,7 @@ void app_init(void)
     ir_remote_init();
     line_sensor_init();
     int ret = ranging_init();
-    if (ret != VL53L0X_ERROR_NONE)
+    if (ret != VL53L4CD_ERROR_NONE)
     {
         DEBUG_PRINTF("Encountered an error during ranging init, error: %d\n", ret);
         Error_Handler();